diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
index ac7c0792..59ff5d49 100644
--- a/urdf_parser/CMakeLists.txt
+++ b/urdf_parser/CMakeLists.txt
@@ -37,22 +37,20 @@ endif()
 
 add_urdfdom_library(
   LIBNAME
-    urdfdom_world
+    urdfdom_model
   SOURCES
     src/pose.cpp
     src/model.cpp
     src/link.cpp
-    src/joint.cpp
-    src/world.cpp)
+    src/joint.cpp)
 
 add_urdfdom_library(
   LIBNAME
-    urdfdom_model
+    urdfdom_world
   SOURCES
-    src/pose.cpp
-    src/model.cpp
-    src/link.cpp
-    src/joint.cpp)
+    src/world.cpp
+  LINK
+    urdfdom_model)
 
 add_urdfdom_library(
   LIBNAME